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BTTask_FlyTo node accepts Actor targets #17

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3066dbd
First pass on BTTask_FlyTo that accepts Actor parameters
OregonJunco Jan 15, 2019
f215ac4
Fixed a bug where DoN pawns with actor targets would get stuck if the…
OregonJunco Jan 16, 2019
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13 changes: 11 additions & 2 deletions Source/DonAINavigation/Classes/BehaviorTree/BTTask_FlyTo.h
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Original file line number Diff line number Diff line change
Expand Up @@ -61,18 +61,25 @@ struct FBT_FlyToTarget

FVector TargetLocation;

AActor* TargetActor;

/* Whether this is a repath due to an actor target having moved */
bool isMovingTargetRepath = false;

FDelegateHandle BBObserverDelegateHandle;

uint32 bTargetLocationChanged : 1;

void Reset()
{
isMovingTargetRepath = false;
solutionTraversalIndex = 0;
QueryResults = FDoNNavigationQueryData();
QueryParams = FDoNNavigationQueryParams();
Metadata = FBT_FlyToTarget_Metadata();
bSolutionInvalidatedByDynamicObstacle = false;
bTargetLocationChanged = false;
TargetActor = nullptr;
}
};

Expand Down Expand Up @@ -105,7 +112,7 @@ class UBTTask_FlyTo : public UBTTaskNode

// Behavior Tree Input:
UPROPERTY(BlueprintReadWrite, EditAnywhere, Category = "DoN Navigation")
FBlackboardKeySelector FlightLocationKey;
FBlackboardKeySelector FlightGoalKey;

/* Optional: Useful in somecases where you want failure or success of a task to automatically update a particular blackboard key*/
UPROPERTY(BlueprintReadWrite, EditAnywhere, Category = "DoN Navigation")
Expand Down Expand Up @@ -159,12 +166,14 @@ class UBTTask_FlyTo : public UBTTaskNode

FBT_FlyToTarget* TaskMemoryFromGenericPayload(void* GenericPayload);

EBTNodeResult::Type SchedulePathfindingRequest(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory);
EBTNodeResult::Type SchedulePathfindingRequest(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory, bool isMovingTargetRepath = false);

void AbortPathfindingRequest(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory);

void TickPathNavigation(UBehaviorTreeComponent& OwnerComp, FBT_FlyToTarget* MyMemory, float DeltaSeconds);

bool CheckTargetMoved(FBT_FlyToTarget* MyMemory);

virtual void OnTaskFinished(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory, EBTNodeResult::Type TaskResult) override;

virtual bool TeleportAndExit(UBehaviorTreeComponent& OwnerComp, bool bWrapUpLatentTask = true);
Expand Down
82 changes: 64 additions & 18 deletions Source/DonAINavigation/Private/BehaviorTree/BTTask_FlyTo.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,11 +33,12 @@ UBTTask_FlyTo::UBTTask_FlyTo(const FObjectInitializer& ObjectInitializer)
NodeName = "Fly To";
bNotifyTick = true;

FlightLocationKey.AddVectorFilter(this, GET_MEMBER_NAME_CHECKED(UBTTask_FlyTo, FlightLocationKey));
FlightResultKey.AddBoolFilter(this, GET_MEMBER_NAME_CHECKED(UBTTask_FlyTo, FlightResultKey));
FlightGoalKey.AddObjectFilter(this, GET_MEMBER_NAME_CHECKED(UBTTask_FlyTo, FlightGoalKey), AActor::StaticClass());
FlightGoalKey.AddVectorFilter(this, GET_MEMBER_NAME_CHECKED(UBTTask_FlyTo, FlightGoalKey));
FlightResultKey.AddBoolFilter(this, GET_MEMBER_NAME_CHECKED(UBTTask_FlyTo, FlightResultKey));
KeyToFlipFlopWhenTaskExits.AddBoolFilter(this, GET_MEMBER_NAME_CHECKED(UBTTask_FlyTo, KeyToFlipFlopWhenTaskExits));

FlightLocationKey.AllowNoneAsValue(true);
FlightGoalKey.AllowNoneAsValue(true);
FlightResultKey.AllowNoneAsValue(true);
KeyToFlipFlopWhenTaskExits.AllowNoneAsValue(true);
}
Expand All @@ -50,7 +51,7 @@ void UBTTask_FlyTo::InitializeFromAsset(UBehaviorTree& Asset)
if (!blackboard)
return;

FlightLocationKey.ResolveSelectedKey(*blackboard);
FlightGoalKey.ResolveSelectedKey(*blackboard);
}

EBTNodeResult::Type UBTTask_FlyTo::ExecuteTask(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory)
Expand All @@ -66,16 +67,16 @@ EBTNodeResult::Type UBTTask_FlyTo::ExecuteTask(UBehaviorTreeComponent& OwnerComp
if (myMemory->BBObserverDelegateHandle.IsValid())
{
UE_VLOG(OwnerComp.GetAIOwner(), LogBehaviorTree, Warning, TEXT("UBTTask_MoveTo::ExecuteTask \'%s\' Old BBObserverDelegateHandle is still valid! Removing old Observer."), *GetNodeName());
BlackboardComp->UnregisterObserver(FlightLocationKey.GetSelectedKeyID(), myMemory->BBObserverDelegateHandle);
BlackboardComp->UnregisterObserver(FlightGoalKey.GetSelectedKeyID(), myMemory->BBObserverDelegateHandle);
}
myMemory->BBObserverDelegateHandle = BlackboardComp->RegisterObserver(FlightLocationKey.GetSelectedKeyID(), this, FOnBlackboardChangeNotification::CreateUObject(this, &UBTTask_FlyTo::OnBlackboardValueChange));
myMemory->BBObserverDelegateHandle = BlackboardComp->RegisterObserver(FlightGoalKey.GetSelectedKeyID(), this, FOnBlackboardChangeNotification::CreateUObject(this, &UBTTask_FlyTo::OnBlackboardValueChange));
}
}

return NodeResult;
}

EBTNodeResult::Type UBTTask_FlyTo::SchedulePathfindingRequest(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory)
EBTNodeResult::Type UBTTask_FlyTo::SchedulePathfindingRequest(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemory, bool isMovingTargetRepath)
{
auto pawn = OwnerComp.GetAIOwner()->GetPawn();
auto myMemory = (FBT_FlyToTarget*)NodeMemory;
Expand All @@ -101,22 +102,45 @@ EBTNodeResult::Type UBTTask_FlyTo::SchedulePathfindingRequest(UBehaviorTreeCompo
}

// Validate blackboard key data:
if(FlightLocationKey.SelectedKeyType != UBlackboardKeyType_Vector::StaticClass())
if(FlightGoalKey.SelectedKeyType != UBlackboardKeyType_Vector::StaticClass() && FlightGoalKey.SelectedKeyType != UBlackboardKeyType_Object::StaticClass())
{
UE_LOG(DoNNavigationLog, Log, TEXT("Invalid FlightLocationKey. Expected Vector type, found %s"), *(FlightLocationKey.SelectedKeyType ? FlightLocationKey.SelectedKeyType->GetName() : FString("?")));
UE_LOG(DoNNavigationLog, Log, TEXT("Invalid FlightGoalKey. Expected Vector or Actor Object type, found %s"), *(FlightGoalKey.SelectedKeyType ? FlightGoalKey.SelectedKeyType->GetName() : FString("?")));
return HandleTaskFailure(OwnerComp, NodeMemory, blackboard);
}

// Prepare input:
myMemory->Reset();
myMemory->Metadata.ActiveInstanceIdx = OwnerComp.GetActiveInstanceIdx();
myMemory->Metadata.OwnerComp = &OwnerComp;
myMemory->QueryParams = QueryParams;
myMemory->QueryParams.CustomDelegatePayload = &myMemory->Metadata;
myMemory->bIsANavigator = pawn->GetClass()->ImplementsInterface(UDonNavigator::StaticClass());
myMemory->isMovingTargetRepath = isMovingTargetRepath;

FVector flightDestination = blackboard->GetValueAsVector(FlightLocationKey.SelectedKeyName);
myMemory->TargetLocation = flightDestination;
FVector flightDestination;
// Prepare location as Vector:
if (FlightGoalKey.SelectedKeyType == UBlackboardKeyType_Vector::StaticClass())
{
flightDestination = blackboard->GetValueAsVector(FlightGoalKey.SelectedKeyName);
myMemory->TargetLocation = flightDestination;
}
// Prepare location as Actor:
else
{
auto keyValue = blackboard->GetValueAsObject(FlightGoalKey.SelectedKeyName);
auto targetActor = Cast<AActor>(keyValue);
if (targetActor)
{
flightDestination = targetActor->GetActorLocation();
myMemory->TargetLocation = flightDestination;
myMemory->TargetActor = targetActor;
}
else
{
UE_LOG(DoNNavigationLog, Log, TEXT("Invalid FlightGoalKey tried to target an actor, but BB key %s was empty or not an actor"), *FlightGoalKey.SelectedKeyName.ToString());
return HandleTaskFailure(OwnerComp, NodeMemory, blackboard);
}
}

// Bind result notification delegate:
FDoNNavigationResultHandler resultHandler;
Expand Down Expand Up @@ -210,6 +234,11 @@ void UBTTask_FlyTo::Pathfinding_OnFinish(const FDoNNavigationQueryData& Data)
return;
}

// If we're a moving target repath, then skip the first index because the first index will generally just be
// from the pawn start to the closest nav voxel and may cause us to move backwards.
if (myMemory->isMovingTargetRepath && Data.PathSolutionOptimized.Num() >= 2)
myMemory->solutionTraversalIndex = 1;

// Inform pawn owner that we're about to start locomotion!
if (myMemory->bIsANavigator)
{
Expand Down Expand Up @@ -243,9 +272,19 @@ void UBTTask_FlyTo::TickTask(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemor
APawn* pawn = OwnerComp.GetAIOwner()->GetPawn();
NavigationManager = UDonNavigationHelper::DonNavigationManagerForActor(pawn);

// If I'm still waiting to get a path to my target, just return:
if (EDonNavigationQueryStatus::InProgress == myMemory->QueryResults.QueryStatus)
return;

// If my actor target has moved beyond the threshold, I should recalculate my path towards it:
if (this->CheckTargetMoved(myMemory))
{
auto ownerComp = myMemory->Metadata.OwnerComp.Get();
AbortPathfindingRequest(*ownerComp, (uint8*)myMemory);
SchedulePathfindingRequest(*ownerComp, (uint8*)myMemory, true);
return;
}

switch (myMemory->QueryResults.QueryStatus)
{

Expand Down Expand Up @@ -294,6 +333,12 @@ void UBTTask_FlyTo::TickTask(UBehaviorTreeComponent& OwnerComp, uint8* NodeMemor
}
}

bool UBTTask_FlyTo::CheckTargetMoved(FBT_FlyToTarget* MyMemory)
{
// If my target is an actor actor and has moved out of the path tolerance, I should recalculate a new path towards it:
return MyMemory->TargetActor != nullptr && bRecalcPathOnDestinationChanged && FVector::DistSquared(MyMemory->TargetLocation, MyMemory->TargetActor->GetActorLocation()) >= FMath::Square(this->RecalculatePathTolerance);
}

void UBTTask_FlyTo::TickPathNavigation(UBehaviorTreeComponent& OwnerComp, FBT_FlyToTarget* MyMemory, float DeltaSeconds)
{
const auto& queryResults = MyMemory->QueryResults;
Expand Down Expand Up @@ -389,7 +434,7 @@ void UBTTask_FlyTo::OnTaskFinished(UBehaviorTreeComponent& OwnerComp, uint8* Nod

UBlackboardComponent* BlackboardComp = OwnerComp.GetBlackboardComponent();
if (ensure(BlackboardComp) && myMemory->BBObserverDelegateHandle.IsValid())
BlackboardComp->UnregisterObserver(FlightLocationKey.GetSelectedKeyID(), myMemory->BBObserverDelegateHandle);
BlackboardComp->UnregisterObserver(FlightGoalKey.GetSelectedKeyID(), myMemory->BBObserverDelegateHandle);

myMemory->BBObserverDelegateHandle.Reset();

Expand Down Expand Up @@ -458,9 +503,10 @@ EBlackboardNotificationResult UBTTask_FlyTo::OnBlackboardValueChange(const UBlac
return EBlackboardNotificationResult::RemoveObserver;
}

if (myMemory != nullptr)
// If we're not pursuing an actor and the value of our our target location key changed, mark our location as having changed:
if (myMemory != nullptr && myMemory->TargetActor == nullptr)
{
const FVector flightDestination = Blackboard.GetValueAsVector(FlightLocationKey.SelectedKeyName);
const FVector flightDestination = Blackboard.GetValueAsVector(FlightGoalKey.SelectedKeyName);

if (!myMemory->TargetLocation.Equals(flightDestination, RecalculatePathTolerance))
myMemory->bTargetLocationChanged = true;
Expand Down Expand Up @@ -489,7 +535,7 @@ FString UBTTask_FlyTo::GetStaticDescription() const
{
FString ReturnDesc = Super::GetStaticDescription();

ReturnDesc += FString::Printf(TEXT("\n%s: %s \n"), *GET_MEMBER_NAME_CHECKED(UBTTask_FlyTo, FlightLocationKey).ToString(), *FlightLocationKey.SelectedKeyName.ToString());
ReturnDesc += FString::Printf(TEXT("\n%s: %s \n"), *GET_MEMBER_NAME_CHECKED(UBTTask_FlyTo, FlightGoalKey).ToString(), *FlightGoalKey.SelectedKeyName.ToString());
ReturnDesc += FString("\nDebug Visualization:");
ReturnDesc += FString::Printf(TEXT("Raw Path: %d \n"), DebugParams.VisualizeRawPath);
ReturnDesc += FString::Printf(TEXT("Optimized Path: %d \n"), DebugParams.VisualizeOptimizedPath);
Expand Down Expand Up @@ -524,13 +570,13 @@ bool UBTTask_FlyTo::TeleportAndExit(UBehaviorTreeComponent& OwnerComp, bool bWra

if (blackboard)
{
FVector flightDestination = blackboard->GetValueAsVector(FlightLocationKey.SelectedKeyName);
FVector flightDestination = blackboard->GetValueAsVector(FlightGoalKey.SelectedKeyName);
NavigationManager = UDonNavigationHelper::DonNavigationManagerForActor(pawn);

bool bLocationValid = !NavigationManager->IsLocationBeneathLandscape(flightDestination);
if(bLocationValid)
{
FVector flightDestination = blackboard->GetValueAsVector(FlightLocationKey.SelectedKeyName);
FVector flightDestination = blackboard->GetValueAsVector(FlightGoalKey.SelectedKeyName);
pawn->SetActorLocation(flightDestination, false);
GEngine->AddOnScreenDebugMessage(-1, 15.f, FColor::White, FString::Printf(TEXT("%s teleported, being unable to find pathfind aerially!"), pawn ? *pawn->GetName() : *FString("")));
bTeleportSuccess = true;
Expand Down